/**
 * Copyright (c) 2011-2016, Jack Mo (mobangjack@foxmail.com).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#include "main.h"

/*----CAN2_TX-----PB13----*/
/*----CAN2_RX-----PB12----*/

void CAN2_Config(void)
{
    CAN_InitTypeDef        can;
    CAN_FilterInitTypeDef  can_filter;
    GPIO_InitTypeDef       gpio;
    NVIC_InitTypeDef       nvic;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource12, GPIO_AF_CAN2);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource13, GPIO_AF_CAN2); 

    gpio.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 ;
    gpio.GPIO_Mode = GPIO_Mode_AF;
    GPIO_Init(GPIOB, &gpio);

    nvic.NVIC_IRQChannel = CAN2_RX0_IRQn;
    nvic.NVIC_IRQChannelPreemptionPriority = 1;
    nvic.NVIC_IRQChannelSubPriority = 1;
    nvic.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&nvic);
    
    nvic.NVIC_IRQChannel = CAN2_TX_IRQn;
    nvic.NVIC_IRQChannelPreemptionPriority = 0;
    nvic.NVIC_IRQChannelSubPriority = 1;
    nvic.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&nvic);

    CAN_DeInit(CAN2);
    CAN_StructInit(&can);

    can.CAN_TTCM = DISABLE;
    can.CAN_ABOM = DISABLE;    
    can.CAN_AWUM = DISABLE;    
    can.CAN_NART = DISABLE;    
    can.CAN_RFLM = DISABLE;    
    can.CAN_TXFP = ENABLE;     
    can.CAN_Mode = CAN_Mode_Normal; 
    can.CAN_SJW  = CAN_SJW_1tq;
    can.CAN_BS1 = CAN_BS1_9tq;
    can.CAN_BS2 = CAN_BS2_4tq;
    can.CAN_Prescaler = 3;   //CAN BaudRate 42/(1+9+4)/3=1Mbps
    CAN_Init(CAN2, &can);
    
    can_filter.CAN_FilterNumber=14;
    can_filter.CAN_FilterMode=CAN_FilterMode_IdMask;
    can_filter.CAN_FilterScale=CAN_FilterScale_32bit;
    can_filter.CAN_FilterIdHigh=0x0000;
    can_filter.CAN_FilterIdLow=0x0000;
    can_filter.CAN_FilterMaskIdHigh=0x0000;
    can_filter.CAN_FilterMaskIdLow=0x0000;
    can_filter.CAN_FilterFIFOAssignment=0;//the message which pass the filter save in fifo0
    can_filter.CAN_FilterActivation=ENABLE;
    CAN_FilterInit(&can_filter);
    
    CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);
    CAN_ITConfig(CAN2,CAN_IT_TME,ENABLE);
}

void CAN2_TX_IRQHandler(void)
{
  if (CAN_GetITStatus(CAN2,CAN_IT_TME)!= RESET)
  {
	   CAN_ClearITPendingBit(CAN2,CAN_IT_TME);   
  }
}

CanRxMsg can2RxMsg;
void CAN2_RX0_IRQHandler(void)
{
    if (CAN_GetITStatus(CAN2,CAN_IT_FMP0)!= RESET) 
    {
        CAN_ClearITPendingBit(CAN2, CAN_IT_FMP0);
        CAN_Receive(CAN2, CAN_FIFO0, &can2RxMsg);
		Can2Call();
    }
}

